Merge branch 'Confiruagble-Contants' of https://github.com/Team4388/Robot-Essentials into Confiruagble-Contants

build.gradle

@@ -74,8 +74,13 @@ dependencies {
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 
-    def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
-    annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
+    def akitJsonFile = new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json")
+        if (akitJsonFile.exists() && akitJsonFile.text) {
+            def akitJson = new groovy.json.JsonSlurper().parseText(akitJsonFile.text)
+            annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
+        } else {
+            throw new GradleException("AdvantageKit.json file is missing or empty. Please ensure it exists in the vendordeps directory.")
+    }
 }
 
 test {

src/main/java/frc4388/robot/constants/BuildConstants.java

@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "Robot-Essentials";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 123;
-  public static final String GIT_SHA = "56841636f984f1a691134b4f1ae8862353846b54";
-  public static final String GIT_DATE = "2025-10-30 16:40:04 MDT";
+  public static final int GIT_REVISION = 124;
+  public static final String GIT_SHA = "a4aea4b8588206095ceec4c922c5eb972c3317b6";
+  public static final String GIT_DATE = "2025-10-30 17:48:36 MDT";
   public static final String GIT_BRANCH = "Confiruagble-Contants";
-  public static final String BUILD_DATE = "2025-10-30 17:42:04 MDT";
-  public static final long BUILD_UNIX_TIME = 1761867724046L;
+  public static final String BUILD_DATE = "2025-11-02 21:59:57 MST";
+  public static final long BUILD_UNIX_TIME = 1762145997591L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java

@@ -17,6 +17,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.constants.Constants.AutoConstants;
 import frc4388.robot.subsystems.vision.Vision;
 import frc4388.utility.compute.TimesNegativeOne;
+import frc4388.utility.configurable.TunableNumber;
 import frc4388.utility.status.Status;
 import frc4388.utility.status.FaultReporter;
 import frc4388.utility.status.Queryable;
@@ -55,6 +56,9 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
     public Rotation2d orientRotTarget = new Rotation2d();
     public ChassisSpeeds chassisSpeeds = new ChassisSpeeds();
 
+    private final TunableNumber xPosition = new TunableNumber("Robot Position", "X", 0.0);
+    private final TunableNumber yPosition = new TunableNumber("Robot Position", "Y", 0.0);
+
     /** Creates a new SwerveDrive. */
     public SwerveDrive(SwerveIO swerveDriveTrain, Vision vision) {
         // public SwerveDrive(SwerveDrivetrain<TalonFX, TalonFX, CANcoder>
@@ -361,6 +365,7 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
             io.addVisionMeasurement(vision.getPosesToAdd());
         }
 
+
         // if(e.isPresent())
     }
 

src/main/java/frc4388/utility/configurable/TunableNumber.java

@@ -1,8 +1,6 @@
 package frc4388.utility.configurable;
-import frc4388.robot.constants.Constants;
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
-import edu.wpi.first.wpilibj.shuffleboard.ComplexWidget;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 
@@ -17,7 +15,7 @@ public class TunableNumber {
         this.tab = Shuffleboard.getTab(tabName);
         this.defaultValue = defaultValue;
         this.entry = tab.add(name, defaultValue)
-                        .withWidget(BuiltInWidgets.kTextView)
+                        .withWidget(BuiltInWidgets.kTextView) // Use a text box for editing
                         .getEntry();
     }